#pragma once

#include <tinympc/types.hpp>

tinytype rho_value = 5.0;

tinytype Adyn_data[NSTATES*NSTATES] = {
  1.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0039240,	-0.0000000,	0.0200000,	0.0000000,	0.0000000,	0.0000000,	0.0000131,	-0.0000000,	
  0.0000000,	1.0000000,	0.0000000,	-0.0039240,	0.0000000,	-0.0000000,	0.0000000,	0.0200000,	0.0000000,	-0.0000131,	0.0000000,	-0.0000000,	
  0.0000000,	0.0000000,	1.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0200000,	0.0000000,	0.0000000,	0.0000000,	
  0.0000000,	0.0000000,	0.0000000,	1.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0100000,	-0.0000000,	0.0000000,	
  0.0000000,	0.0000000,	0.0000000,	-0.0000000,	1.0000000,	-0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0100000,	-0.0000000,	
  0.0000000,	0.0000000,	0.0000000,	-0.0000000,	0.0000000,	1.0000000,	0.0000000,	0.0000000,	0.0000000,	-0.0000000,	0.0000000,	0.0100000,	
  0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.3924000,	-0.0000000,	1.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0019620,	-0.0000000,	
  0.0000000,	0.0000000,	0.0000000,	-0.3924000,	0.0000000,	-0.0000000,	0.0000000,	1.0000000,	0.0000000,	-0.0019620,	0.0000000,	-0.0000000,	
  0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	1.0000000,	0.0000000,	0.0000000,	0.0000000,	
  0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	1.0000000,	-0.0000000,	0.0000000,	
  0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	1.0000000,	-0.0000000,	
  0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	0.0000000,	-0.0000000,	0.0000000,	1.0000000	
};

tinytype Bdyn_data[NSTATES*NINPUTS] = {
  -0.0000181,	0.0000199,	0.0000182,	-0.0000200,	
  0.0000180,	0.0000198,	-0.0000180,	-0.0000198,	
  0.0008409,	0.0008409,	0.0008409,	0.0008409,	
  -0.0275355,	-0.0303234,	0.0275663,	0.0302926,	
  -0.0276707,	0.0304278,	0.0277570,	-0.0305141,	
  0.0019748,	-0.0007224,	-0.0027844,	0.0015320,	
  -0.0036193,	0.0039800,	0.0036306,	-0.0039912,	
  0.0036016,	0.0039663,	-0.0036057,	-0.0039623,	
  0.0840857,	0.0840857,	0.0840857,	0.0840857,	
  -5.5070921,	-6.0646807,	5.5132527,	6.0585201,	
  -5.5341404,	6.0855684,	5.5513900,	-6.1028180,	
  0.3949542,	-0.1444728,	-0.5568752,	0.3063938	
};

tinytype Q_data[NSTATES]= {100.0000000,	100.0000000,	100.0000000,	4.0000000,	4.0000000,	400.0000000,	4.0000000,	4.0000000,	4.0000000,	2.0408163,	2.0408163,	4.0000000};

tinytype R_data[NINPUTS]= {4.0000000,	4.0000000,	4.0000000,	4.0000000};

